Related papers: Localization Meets Uncertainty: Uncertainty-Aware …
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…
This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…
Reliable image geolocation is crucial for several applications, ranging from social media geo-tagging to fake news detection. State-of-the-art geolocation methods surpass human performance on the task of geolocation estimation from images.…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Although data-driven methods have achieved success in 3D human pose estimation, they often suffer from domain gaps and exhibit limited generalization. In contrast, optimization-based methods excel in fine-tuning for specific cases but are…
Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Current person image retrieval methods have achieved great improvements in accuracy metrics. However, they rarely describe the reliability of the prediction. In this paper, we propose an Uncertainty-Aware Learning (UAL) method to remedy…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual…
Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image.…
Motion prediction is essential for safe and efficient autonomous driving. However, the inexplicability and uncertainty of complex artificial intelligence models may lead to unpredictable failures of the motion prediction module, which may…
Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…
Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
Unreliable predictions can occur when using artificial intelligence (AI) systems with negative consequences for downstream applications, particularly when employed for decision-making. Conformal prediction provides a model-agnostic…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…